Parking simulation methods, devices, equipment, and storage media based on autonomous driving

Abstract

This invention discloses a parking simulation method, apparatus, device, and storage medium based on autonomous driving. The method includes: during the parking simulation process, acquiring the parking position of the target vehicle, determining the parking area based on the parking position, determining whether the parking area needs to be updated, and if so, updating the parking area and using the updated parking area as the target parking area; otherwise, using the parking area as the target parking area, and determining the simulation score of the target parking area after parking is completed in the target parking area. This enables autonomous and automatic updating of reasonable parking areas based on actual road conditions and automatic generation of simulation scores, saving a significant amount of labor and making the updating of parking areas and the determination of simulation scores more efficient and reasonable.

Description

Technical Field

[0001] This invention belongs to the technical field of autonomous driving, and particularly relates to parking simulation methods, devices, equipment and storage media based on autonomous driving. Background Technology

[0002] Currently, the road environment for autonomous buses, taxis, and other public transportation vehicles to stop at stations is more complex than that for private cars and other non-public transportation vehicles. They frequently encounter special situations such as illegally parked vehicles, bicycles passing by, and passengers moving around. Furthermore, unlike private cars which are mostly parked in designated parking spaces, public transportation does not have assigned parking spaces. Therefore, extensive simulations and evaluations of parking performance are necessary for autonomous driving of public transportation.

[0003] Currently, autonomous public transportation has manually marked optimal parking areas at each station. However, when there are special circumstances such as illegal parking, the optimal parking areas need to be manually modified for each scenario, and even manually scored. This requires a lot of manpower and resources. Summary of the Invention

[0004] This invention provides a parking simulation method, apparatus, device, and storage medium based on autonomous driving, to solve the problem that currently autonomous vehicles require a large amount of manpower for simulated parking.

[0005] According to a first aspect of the present invention, a parking simulation method based on autonomous driving is provided, the method comprising:

[0006] During parking simulation, the parking location of the target vehicle is obtained;

[0007] The parking area is determined based on the parking location;

[0008] Determine whether the parking area needs to be updated;

[0009] If so, the parking area is updated, and the updated parking area is used as the target parking area;

[0010] If not, then the parking area will be designated as the target parking area;

[0011] Once parking is completed in the target parking area, the simulation score for the target parking area is determined.

[0012] Optionally, determining whether the parking area needs to be updated includes:

[0013] Determine whether the parking area is an area of ​​illegal parking;

[0014] If it is an area of ​​illegal parking, then it is determined that the parking area needs to be updated.

[0015] Optionally, determining whether the parking area needs to be updated includes:

[0016] Determine whether there are obstacles in the parking area;

[0017] If it exists, then it is determined that the parking area needs to be updated.

[0018] Optionally, updating the parking area includes:

[0019] Generate a target bounding box, which is a bounding box fitted based on the identified obstacles, or a bounding box fitted based on the illegal parking area;

[0020] The target rectangle is expanded outwards by a predetermined first safety distance to obtain a safety rectangle.

[0021] Obtain the intersection area between the safety rectangle and the parking area;

[0022] The second safety distance is extended outward from the intersection area as the center, and the resulting area is taken as the target parking area.

[0023] Optionally, the step of widening the second safety distance outward from the intersection area as the center, and using the resulting area as the target parking area, includes:

[0024] Centered on the intersection area, a nine-square grid area with the intersection area as the unit size is generated, and the nine-square grid area is used as the updated target parking area.

[0025] Optionally, determining the simulation score of the target parking area includes:

[0026] Calculate the first distance between the target vehicle and the target parking area after parking is completed;

[0027] Calculate the second distance between the target vehicle and each obstacle within the preset range, and calculate the sum of all the second distances to obtain the third distance;

[0028] Obtain the parking time of the target vehicle from the start of parking to the completion of parking;

[0029] The simulation score is determined based on the first distance, the third distance, and the parking time.

[0030] Optionally, determining the simulation score based on the first distance, the third distance, and the parking time includes:

[0031] The first distance, the third distance, and the parking time are weighted using a set weight.

[0032] The weighted result of the first distance and the weighted result of the parking time are subtracted from the weighted result of the third distance to obtain the simulation score.

[0033] According to a second aspect of the present invention, a parking simulation device based on autonomous driving is provided, the device comprising:

[0034] The parking location acquisition module is used to acquire the parking location of the target vehicle during parking simulation.

[0035] A parking area determination module is used to determine a parking area based on the parking location;

[0036] The judgment module is used to determine whether the parking area needs to be updated;

[0037] The first execution module is used to update the parking area when it is necessary, and to use the updated parking area as the target parking area.

[0038] The second execution module is used to designate the parking area as the target parking area when it is not necessary to update the parking area.

[0039] The simulation score determination module is used to determine the simulation score of the target parking area after parking is completed in the target parking area.

[0040] According to a third aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0041] At least one processor; and

[0042] A memory communicatively connected to the at least one processor; wherein,

[0043] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to execute a parking simulation method based on autonomous driving as described in any embodiment of the present invention.

[0044] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions, the computer instructions being configured to cause a processor to execute and implement a parking simulation method based on autonomous driving as described in any embodiment of the present invention.

[0045] The technical solution of this invention provides a parking simulation method based on autonomous driving. During the parking simulation process, the parking location of the target vehicle is obtained, and then a parking area is determined based on the parking location. It is then determined whether the parking area needs to be updated to ensure that the parking area can meet parking needs. If an update is needed, the parking area is updated, and the updated parking area is used as the target parking area. If no update is needed, the parking area is used as the target parking area. After parking is completed in the target parking area, a simulation score for the target parking area is determined. This method enables autonomous and automatic updating of reasonable parking areas based on actual road conditions and automatic generation of simulation scores, saving significant labor and making the updating of parking areas and the determination of simulation scores more efficient and reasonable.

[0046] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a flowchart of a parking simulation method based on autonomous driving according to Embodiment 1 of the present invention;

[0049] Figure 2 This is a schematic diagram of a target rectangular frame provided in Embodiment 1 of the present invention;

[0050] Figure 3 This is a schematic diagram of an expanded target rectangle according to Embodiment 1 of the present invention;

[0051] Figure 4 This is a schematic diagram of a safety rectangle provided in Embodiment 1 of the present invention;

[0052] Figure 5 This is a schematic diagram of an intersection region provided in Embodiment 1 of the present invention;

[0053] Figure 6 This is a schematic diagram of a nine-square grid area provided in Embodiment 1 of the present invention;

[0054] Figure 7 This is a schematic diagram of a simulated parking system provided according to Embodiment 1 of the present invention;

[0055] Figure 8 This is a schematic diagram of a parking simulation device based on autonomous driving according to Embodiment 2 of the present invention;

[0056] Figure 9 This is a schematic diagram of the structure of an electronic device that implements a parking simulation method based on autonomous driving according to an embodiment of the present invention. Detailed Implementation

[0057] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0058] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0059] Example 1

[0060] Figure 1 This is a flowchart of a parking simulation method based on autonomous driving, provided in Embodiment 1 of the present invention.

[0061] This method can be executed by an autonomous driving-based parking simulation device, which can be implemented in hardware and / or software.

[0062] like Figure 1 As shown, this embodiment may include the following steps:

[0063] S110, during parking simulation, obtains the parking position of the target vehicle.

[0064] In this embodiment, in the field of autonomous driving, when a target vehicle has a parking requirement, a parking simulation can be performed first to determine whether the parking position is suitable. When the parking position corresponding to the simulated parking is suitable, the parking operation is then performed.

[0065] During parking simulation, positioning and attitude determination equipment and high-precision maps can be used to locate the target vehicle. That is, by using data such as lane lines and stopping points on the high-precision map, plus the vehicle's positioning information, the parking position of the target vehicle can be set.

[0066] For autonomous vehicles on the road, due to the presence of moving obstacles and other special road conditions, such as temporary road repairs, the initially set parking position may become unsuitable as the environment changes. Therefore, based on the information obtained from the target vehicle's current positioning and attitude determination equipment and the parking position determined by the high-precision map, further judgment is needed to obtain the ideal parking position.

[0067] S120, determine the parking area based on the parking location.

[0068] In this embodiment, the parking location refers to the final position where the target vehicle will park during simulated parking, while the parking area can be understood as the area the target vehicle will pass through during its movement from its current location to the parking location. The parking area includes the parking location. Specifically, when determining the parking area after determining the parking location, the parking area can be formed by expanding outwards by a certain distance from the parking location.

[0069] For example, on a road, even if there is a parking spot that meets the size requirements of the target vehicle, if the parking spot is surrounded by obstacles, the target vehicle cannot actually drive to that parking spot to park. Therefore, a parking area that is more spacious than the parking spot is needed to ensure that the target vehicle can drive from its current position to the parking spot to park.

[0070] S130, determine whether the parking area needs to be updated.

[0071] In this embodiment, since the parking area is determined based on the parking location, and the parking location is determined based on the target vehicle's own positioning information and high-definition map, it is difficult to completely match the actual situation on site. For example, there may be temporary road repair areas, obstacles may be identified on site, or the positions of previously identified obstacles may have changed.

[0072] It is necessary to determine whether real-time updates to the parking area are needed based on the actual road conditions. When specifically detecting actual road conditions, various items on the road can be categorized first. For example, during detection, items can be categorized by type, such as people, two-wheeled vehicles, cars, trucks, traffic cones, and manhole covers. They can also be further categorized by their state, such as static and dynamic.

[0073] For autonomous driving hardware, the detection radius is approximately 200 meters. Furthermore, different safe distances can be pre-set for each combination to determine whether the parking area needs updating. For example, a 3-meter distance between dynamic vehicles and static vehicles is considered safe, manhole covers can be pressed, but traffic cones cannot, etc.

[0074] In one embodiment, step S130 includes the following steps:

[0075] Determine whether the parking area is an area where illegal parking is permitted;

[0076] If it is an area of ​​illegal parking, then it is determined that the parking area needs to be updated.

[0077] In this embodiment, the parking area can be identified by recognizing the surrounding environment to determine whether it is an illegal parking area. For example, whether there are no parking signs in the parking area, whether it is a bus lane or bus stop where the target vehicle is not allowed to park, etc. If the parking area is determined to be an illegal parking area, it can be determined that the parking area needs to be updated to avoid parking in the illegal parking area.

[0078] In another embodiment, step S130 includes the following steps:

[0079] Determine if there are any obstacles in the parking area;

[0080] If it exists, then the parking area needs to be updated.

[0081] In this embodiment, when determining whether a parking area needs to be updated, it can be determined by whether there are obstacles in the parking area, such as whether there are illegally parked vehicles, non-motorized vehicles, people, construction areas, etc. If there are obstacles in the parking area, it can be determined that the parking area needs to be updated to obtain a new parking area without obstacles.

[0082] In another embodiment, when determining whether a parking area needs to be updated, it can be determined whether the parking area simultaneously meets the conditions of not being an illegally parked area and not having any obstacles. Only when both conditions are met can it be determined that no update is needed. If either condition is not met, it is determined that the parking area needs to be updated.

[0083] S140, if so, update the parking area and use the updated parking area as the target parking area.

[0084] In this embodiment, when it is determined that the parking area needs to be updated, it can be updated. During the update, a new parking area can be set up based on the current environment, or the original parking area can be adjusted, such as by extending it outwards to enlarge it. In another implementation, the original parking area can be appropriately adjusted based on the location of obstacles and illegally parked areas within it. For example, if an obstacle is located to the left of the original parking area, the left side of the original parking area can be narrowed until there is no obstacle, while the right side can be expanded to ensure sufficient space for the target vehicle to park. The updated parking area is then used as the target parking area.

[0085] In one embodiment, updating the parking area in step S140 includes the following steps:

[0086] S140-1, Generate the target rectangle;

[0087] S140-2, Expand the target rectangle outwards by a set first safety distance to obtain a safety rectangle;

[0088] S140-3, Obtain the intersection area of ​​the safety rectangle and the parking area;

[0089] S140-4, expand the second safety distance outward from the intersection area as the center, and use the resulting area as the target parking area.

[0090] In this embodiment, the target bounding box is a bounding box fitted based on the identified obstacles, or a bounding box fitted based on the illegally parked area. (Reference) Figure 2 A schematic diagram of a target rectangle. Figure 2 In the middle, an obstacle is detected in the upper left corner of the parking area. At this time, a target rectangle can be fitted based on the location and size of the obstacle, such as... Figure 2 The rectangle containing the obstacle is the target rectangle.

[0091] like Figure 3 As shown in the schematic diagram of a target rectangle expansion, a first safety distance can be extended outwards from the obstacle rectangle as the center. This allows us to obtain the length and width dimensions of the obstacle rectangle with the distance, thus obtaining the safety rectangle. (Refer to...) Figure 4 A schematic diagram of a safety rectangle.

[0092] refer to Figure 5 A schematic diagram of the intersection region, from Figure 4Once the safety rectangle is obtained, the intersection of the safety rectangle and the parking area can be determined. After determining the intersection area, a second safety distance can be extended outward from the intersection area as the center, and the resulting area can be used as the target parking area.

[0093] In one embodiment, step S140-4 includes the following steps;

[0094] Centered on the intersection area, generate a nine-square grid area with the intersection area as the unit size, and use the nine-square grid area as the updated target parking area.

[0095] In this embodiment, the intersection area is used as the center, and the intersection area is used as a unit-sized grid. This grid is then expanded into a nine-square grid area, which can be used as the updated target parking area. (Reference) Figure 6 A diagram of a nine-square grid area, from Figure 6 As can be seen, the generated 3x3 grid area will cover the original parking area, resulting in a larger target parking area. In another implementation, the union of the 3x3 grid area and the original parking area can be used as the updated target parking area.

[0096] S150, if not, then the parking area will be the target parking area.

[0097] In one embodiment, if the parking area has no illegally parked areas or no obstacles, it can be determined as an ideal parking area, i.e., a target parking area. In another embodiment, a parking area can be determined as a target parking area if it simultaneously has neither illegally parked areas nor obstacles.

[0098] S160, after parking is completed in the target parking area, determine the simulation score of the target parking area.

[0099] In this embodiment, after determining the target parking area, simulated parking can be started. Although the target parking area is the ideal parking area, the regulation and control corresponding to the autonomous driving parking module may not be able to ensure that the target vehicle is parked properly. Algorithm strategy, accuracy, execution time, etc. all affect the final parking completion rate. The simulation score is calculated, and the determined simulation score can be used to evaluate the regulation and control algorithm.

[0100] In one embodiment, determining the simulation score of the target parking area in step S160 includes the following steps:

[0101] S160-1, Calculate the first distance between the target vehicle and the target parking area after parking is completed;

[0102] S160-2, calculate the second distance between the target vehicle and each obstacle within the preset range, and calculate the sum of all the second distances to obtain the third distance;

[0103] S160-3, Obtain the parking time of the target vehicle from the start of parking to the completion of parking;

[0104] S160-4, determine the simulation score based on the first distance, the third distance, and the parking time.

[0105] In this embodiment, after the simulated parking is completed, the first distance between the target vehicle and the target parking area can be calculated, such as... Figure 7 A simulation parking diagram is provided, in which the shortest connecting line length D between the target vehicle and the target parking area is taken as the first distance. The smaller the first distance D is, the closer the final parking position is to the target parking area, that is, the better the parking effect.

[0106] In addition, identify all obstacles within a preset range around the target vehicle, and determine the second distance between the target vehicle and each obstacle within the preset range, such as... Figure 7 D1 and D2 in the equation both belong to the second distance. The sum of all second distances can be calculated as the third distance. The greater the distance to each obstacle, the better the parking effect.

[0107] When obtaining the parking time of a target vehicle from the start of parking to the completion of parking, the parking module starts working when the target vehicle is within a specified range near the target parking area and can start timing. When parking is completed, the parking module stops working and the timing ends. The parking time is the time difference between the two.

[0108] After determining the first distance, the third distance, and the parking time, the simulation score can be calculated based on these three factors. The parameters of these three factors can constrain each other when calculating the simulation score.

[0109] In one embodiment, step S160-4 includes the following steps:

[0110] The first distance, the third distance, and the parking time are weighted using a set weight.

[0111] The weighted result of the first distance and the weighted result of the parking time are subtracted from the weighted result of the third distance to obtain the simulation score.

[0112] In this embodiment, different weights can be set for the first distance, the third distance, and the parking time according to different needs. When setting the weights, if more emphasis is placed on the parking speed, a relatively large weight can be set for the parking time. If more emphasis is placed on the parking safety, a relatively large weight can be set for the third distance, that is, the farther away from the obstacle is needed to get a higher score. If more emphasis is placed on the accuracy of the parking position, a relatively large weight can be set for the first distance, that is, the closer to the target parking area is needed to get a higher score.

[0113] When calculating the simulation score, the weights of the first distance D are set as W1, the weight of the third distance Ds as W2, and the weight of the parking time T as W3. The formula for calculating the simulation score is:

[0114] Score = Ds*W2 - D*W1 - T*W3

[0115] This embodiment proposes a parking simulation method based on autonomous driving. During the parking simulation process, the parking location of the target vehicle is obtained, and then a parking area is determined based on the parking location. It is then determined whether the parking area needs to be updated to ensure that the parking area can meet the parking demand. If the parking area needs to be updated, it is updated, and the updated parking area is used as the target parking area. If the parking area does not need to be updated, the parking area is used as the target parking area. After parking is completed in the target parking area, the simulation score of the target parking area is determined. This method enables autonomous and automatic updates of reasonable parking areas based on actual road conditions and automatic generation of simulation scores, saving a lot of labor and making the updating of parking areas and the determination of simulation scores more efficient and reasonable.

[0116] Example 2

[0117] Figure 8 This is a schematic diagram of a parking simulation device based on autonomous driving provided in Embodiment 2 of the present invention, as shown below. Figure 8 As shown, the device includes:

[0118] The parking location acquisition module 810 is used to acquire the parking location of the target vehicle during parking simulation.

[0119] The parking area determination module 820 is used to determine the parking area based on the parking location;

[0120] The judgment module 830 is used to determine whether the parking area needs to be updated;

[0121] The first execution module 840 is used to update the parking area when it is necessary, and to use the updated parking area as the target parking area.

[0122] The second execution module 850 is used to use the parking area as the target parking area when it is not necessary to update the parking area.

[0123] The simulation score determination module 860 is used to determine the simulation score of the target parking area after parking is completed in the target parking area.

[0124] In one embodiment, the determining module 830 is configured to:

[0125] Determine whether the parking area is an area of ​​illegal parking;

[0126] If it is an area of ​​illegal parking, then it is determined that the parking area needs to be updated.

[0127] In one embodiment, the determining module 830 is configured to:

[0128] Determine whether there are obstacles in the parking area;

[0129] If it exists, then it is determined that the parking area needs to be updated.

[0130] In one embodiment, the first execution module 840 includes the following sub-modules:

[0131] The target rectangle generation submodule is used to generate a target rectangle, which is a rectangle fitted based on the identified obstacles or a rectangle fitted based on the illegal parking area.

[0132] An extension submodule is used to extend the target rectangle outwards by a set first safety distance to obtain a safety rectangle.

[0133] The intersection area acquisition submodule is used to acquire the intersection area between the safety rectangle and the parking area;

[0134] The target parking area determination submodule is used to expand the second safety distance outward from the intersection area as the center, and take the resulting area as the target parking area.

[0135] In one embodiment, the target parking area determination submodule is specifically used for:

[0136] Centered on the intersection area, a nine-square grid area with the intersection area as the unit size is generated, and the nine-square grid area is used as the updated target parking area.

[0137] In one embodiment, the simulation score determination module 860 includes the following sub-modules:

[0138] The first distance calculation submodule is used to calculate the first distance between the target vehicle and the target parking area after parking is completed;

[0139] The third distance determination submodule is used to calculate the second distance between the target vehicle and each obstacle within a preset range, and to calculate the sum of all the second distances to obtain the third distance;

[0140] The parking time acquisition submodule is used to acquire the parking time of the target vehicle from the start of parking to the completion of parking;

[0141] The simulation score determination submodule is used to determine the simulation score based on the first distance, the third distance, and the parking time.

[0142] In one embodiment, the simulation score determination submodule includes the following units:

[0143] The weighting unit is used to weight the first distance, the third distance, and the parking time using a set weight.

[0144] The simulation score determination unit is used to subtract the weighted result of the first distance and the weighted result of the parking time from the weighted result of the third distance, and the result is used as the simulation score.

[0145] The parking simulation device based on autonomous driving provided in this embodiment of the invention can realize the parking simulation method based on autonomous driving provided in Embodiment 1 of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0146] Example 4

[0147] Figure 9 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0148] like Figure 9As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0149] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0150] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as a parking simulation method based on autonomous driving.

[0151] In some embodiments, an autonomous driving-based parking simulation method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the autonomous driving-based parking simulation method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform an autonomous driving-based parking simulation method by any other suitable means (e.g., by means of firmware).

[0152] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0153] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0154] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0155] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0156] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0157] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0158] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0159] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. An automatic driving-based parking simulation method, characterized by, The method comprises: acquiring a parking position of a target vehicle in a parking simulation process; determining a parking area according to the parking position; wherein the parking area is an area containing the parking position and formed by extending outward from around the parking position; judging whether the parking area needs to be updated; if yes, updating the parking area and taking the updated parking area as a target parking area; if no, taking the parking area as the target parking area; after parking is completed according to the target parking area, determining a simulation score of the target parking area; wherein the updating of the parking area comprises: generating a target rectangular frame, which is a rectangular frame fitted according to an identified obstacle or a rectangular frame fitted according to a parking violation area; extending the target rectangular frame by a first safety distance around to obtain a safety rectangular frame; acquiring an intersection area of the safety rectangular frame and the parking area; widening a second safety distance outward from the intersection area and taking the obtained area as the target parking area.

2. The method of claim 1, wherein, The judging whether the parking area needs to be updated comprises: judging whether the parking area is a parking violation area; if yes, determining that the parking area needs to be updated.

3. The method of claim 1, wherein, The judging whether the parking area needs to be updated comprises: judging whether there is an obstacle in the parking area; if yes, determining that the parking area needs to be updated.

4. The method of claim 1, wherein, The widening a second safety distance outward from the intersection area and taking the obtained area as the target parking area comprises: generating a nine-grid area with the intersection area as a unit size and taking the nine-grid area as the updated target parking area.

5. The method of claim 1, wherein, The determining the simulation score of the target parking area comprises: calculating a first distance between the target vehicle after parking is completed and the target parking area; calculating a second distance between the target vehicle and each obstacle within a preset range and calculating a sum of all second distances to obtain a third distance; acquiring a parking time of the target vehicle from when parking starts to when parking is completed; determining a simulation score according to the first distance, the third distance and the parking time.

6. The method of claim 5, wherein, The determining a simulation score according to the first distance, the third distance and the parking time comprises: weighting the first distance, the third distance and the parking time by using a set weight; subtracting a weighted result of the first distance and a weighted result of the parking time from a weighted result of the third distance to obtain a result as the simulation score.

7. A parking simulation device based on autonomous driving, characterized in that, The device comprises: a parking position acquisition module, configured to acquire a parking position of a target vehicle in a parking simulation process; a parking area determination module, configured to determine a parking area according to the parking position; wherein the parking area is an area containing the parking position and formed by extending outward from around the parking position; a judging module, configured to judge whether the parking area needs to be updated; The first execution module is configured to update the parking area when the parking area needs to be updated, and take the updated parking area as a target parking area; The second execution module is configured to take the parking area as a target parking area when the parking area does not need to be updated; The simulation score determination module is configured to determine a simulation score of the target parking area after parking is completed according to the target parking area. The first execution module includes: The target rectangular frame generation submodule is configured to generate a target rectangular frame, which is a rectangular frame fitted according to the identified obstacle or a rectangular frame fitted according to the illegal parking area; The expansion submodule is configured to expand the target rectangular frame by a first safety distance to obtain a safety rectangular frame; The intersection area acquisition submodule is configured to acquire an intersection area of the safety rectangular frame and the parking area; The target parking area determination submodule is configured to widen a second safety distance outward from the intersection area to obtain a target parking area.

8. An electronic device, comprising: The electronic device includes: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute any one of the automatic driving-based parking simulation methods in claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions, and the computer instructions are used to enable the processor to implement any one of the automatic driving-based parking simulation methods in claims 1-6 when executed.

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